From 920fb8fc3a4cb46d27c06380ff49c1e182c8d8d6 Mon Sep 17 00:00:00 2001
From: tizianoGuadagnino <frevo93@gmail.com>
Date: Fri, 22 Nov 2024 17:18:25 +0100
Subject: [PATCH] At least replicate the functionalities of kiss map, need to
 test and find a way to remove unused voxels

---
 cpp/kinematic_icp/pipeline/KinematicICP.hpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/cpp/kinematic_icp/pipeline/KinematicICP.hpp b/cpp/kinematic_icp/pipeline/KinematicICP.hpp
index d995a79..8523ff8 100644
--- a/cpp/kinematic_icp/pipeline/KinematicICP.hpp
+++ b/cpp/kinematic_icp/pipeline/KinematicICP.hpp
@@ -24,6 +24,7 @@
 
 #include <Eigen/Core>
 #include <cmath>
+#include <kiss_icp/core/Preprocessing.hpp>
 #include <sophus/se3.hpp>
 #include <tuple>
 #include <vector>
@@ -101,7 +102,17 @@ class KinematicICP {
     KinematicRegistration registration_;
     CorrespondenceThreshold correspondence_threshold_;
     Config config_;
+<<<<<<< HEAD
     SparseVoxelGrid local_map_;
+=======
+<<<<<<< HEAD
+    // KISS-ICP pipeline modules
+    kiss_icp::Preprocessor preprocessor_;
+    kiss_icp::VoxelHashMap local_map_;
+=======
+    SparseVoxelGrid local_map_;
+>>>>>>> 01188b4 (At least replicate the functionalities of kiss map, need to test and)
+>>>>>>> 7630bc5 (At least replicate the functionalities of kiss map, need to test and)
 };
 
 }  // namespace kinematic_icp::pipeline